OpenRaiser/Intern-Atlas huggingface dataset:
Cross-Platform Short-Video Diplomacy: Topic and Sentiment Analysis of China-US Relations on Douyin and TikTok
Venue: arXiv cs.SI 2025
Year: 2025

We examine discussions surrounding China-U.S. relations on the Chinese and American social media platforms \textit{Douyin} and \textit{TikTok}. Both platforms, owned by \textit{ByteDance}, operate under different regulatory and cultural environments, providing a unique perspective for analyzing China-U.S. public discourse. This study analyzed 4,040 videos and 338,209 user comments to assess the public discussions and sentiments on social media regarding China-U.S. relations. Through topic clustering and sentiment analysis, we identified key themes, including economic strength, technological and industrial interdependence, cultural cognition and value pursuits, and responses to global challenges. There are significant emotional differences between China and the US on various themes. Since April 2022, the Chinese government has implemented a new regulation requiring all social media accounts to disclose their provincial-level geolocation information. Utilizing this publicly available data, along with factors such as GDP per capita, minority index, and internet penetration rate, we investigate the changes in sentiment towards the U.S. in mainland China. This study links socioeconomic indicators with online discussions, deeply analyzing how regional and economic factors influence Chinese comments on their views of the US, providing important insights for China-U.S. relationship research and policy making.
A Novel Multi-Timescale Stability-Preserving Hierarchical Reinforcement Learning Controller Framework for Adaptive Control in High-Dimensional Dynamical Systems
Venue: arXiv cs.RO 2025
Year: 2025

Controlling high-dimensional stochastic systems, critical in robotics, autonomous vehicles, and hyperchaotic systems, faces the curse of dimensionality, lacks temporal abstraction, and often fails to ensure stochastic stability. To overcome these limitations, this study introduces the Multi-Timescale Lyapunov-Constrained Hierarchical Reinforcement Learning (MTLHRL) framework. MTLHRL integrates a hierarchical policy within a semi-Markov Decision Process (SMDP), featuring a high-level policy for strategic planning and a low-level policy for reactive control, which effectively manages complex, multi-timescale decision-making and reduces dimensionality overhead. Stability is rigorously enforced using a neural Lyapunov function optimized via Lagrangian relaxation and multi-timescale actor-critic updates, ensuring mean-square boundedness or asymptotic stability in the face of stochastic dynamics. The framework promotes efficient and reliable learning through trust-region constraints and decoupled optimization. Extensive simulations on an 8D hyperchaotic system and a 5-DOF robotic manipulator demonstrate MTLHRL's empirical superiority. It significantly outperforms baseline methods in both stability and performance, recording the lowest error indices (e.g., Integral Absolute Error (IAE): 3.912 in hyperchaotic control and IAE: 1.623 in robotics), achieving faster convergence, and exhibiting superior disturbance rejection. MTLHRL offers a theoretically grounded and practically viable solution for robust control of complex stochastic systems.
Separation of Unconscious Robots with Obstructed Visibility
Venue: arXiv cs.DC 2025
Year: 2025

We study a recently introduced \textit{unconscious} mobile robot model, where each robot is associated with a \textit{color}, which is visible to other robots but not to itself. The robots are autonomous, anonymous, oblivious and silent, operating in the Euclidean plane under the conventional \textit{Look-Compute-Move} cycle. A primary task in this model is the \textit{separation problem}, where unconscious robots sharing the same color must separate from others, forming recognizable geometric shapes such as circles, points, or lines. All prior works model the robots as \textit{transparent}, enabling each to know the positions and colors of all other robots. In contrast, we model the robots as \textit{opaque}, where a robot can obstruct the visibility of two other robots, if it lies on the line segment between them. Under this obstructed visibility, we consider a variant of the separation problem in which robots, starting from any arbitrary initial configuration, are required to separate into concentric semicircles. We present a collision-free algorithm that solves the separation problem under a semi-synchronous scheduler in $O(n)$ epochs, where $n$ is the number of robots. The robots agree on one coordinate axis but have no knowledge of $n$.
PromptReverb: Multimodal Room Impulse Response Generation Through Latent Rectified Flow Matching
Venue: arXiv cs.SD 2025
Year: 2025

Room impulse response (RIR) generation remains a critical challenge for creating immersive virtual acoustic environments. Current methods suffer from two fundamental limitations: the scarcity of full-band RIR datasets and the inability of existing models to generate acoustically accurate responses from diverse input modalities. We present PromptReverb, a two-stage generative framework that addresses these challenges. Our approach combines a variational autoencoder that upsamples band-limited RIRs to full-band quality (48 kHz), and a conditional diffusion transformer model based on rectified flow matching that generates RIRs from descriptions in natural language. Empirical evaluation demonstrates that PromptReverb produces RIRs with superior perceptual quality and acoustic accuracy compared to existing methods, achieving 8.8% mean RT60 error compared to -37% for widely used baselines and yielding more realistic room-acoustic parameters. Our method enables practical applications in virtual reality, architectural acoustics, and audio production where flexible, high-quality RIR synthesis is essential.
A short methodological review on social robot navigation benchmarking
Venue: arXiv cs.RO 2025
Year: 2025

Social Robot Navigation is the skill that allows robots to move efficiently in human-populated environments while ensuring safety, comfort, and trust. Unlike other areas of research, the scientific community has not yet achieved an agreement on how Social Robot Navigation should be benchmarked. This is notably important, as the lack of a de facto standard to benchmark Social Robot Navigation can hinder the progress of the field and may lead to contradicting conclusions. Motivated by this gap, we contribute with a short review focused exclusively on benchmarking trends in the period from January 2020 to July 2025. Of the 130 papers identified by our search using IEEE Xplore, we analysed the 85 papers that met the criteria of the review. This review addresses the metrics used in the literature for benchmarking purposes, the algorithms employed in such benchmarks, the use of human surveys for benchmarking, and how conclusions are drawn from the benchmarking results, when applicable.
A Multifaceted View on Discrimination in Software Development Careers
Venue: arXiv cs.SE 2025
Year: 2025

Conversations around diversity and inclusion in software engineering often focus on gender and racial disparities. However, the State of Devs 2025 survey with 8,717 participants revealed that other forms of discrimination are similarly prevalent but receive considerably less attention. This includes discrimination based on age, political perspective, disabilities, or cognitive differences such as neurodivergence. We conducted a secondary analysis of 800 open-ended survey responses to examine patterns of perceived discrimination, as well as related challenges and negative impacts. Our study covers multiple identity facets, including age, gender, race, and disability. We found that age- and gender-related discrimination was the most frequently reported workplace issue, but discrimination based on political and religious views emerged as further notable concerns. Most of the participants who identified as female cited gender as the primary source of discrimination, often accompanied by intersectional factors such as race, political views, age, or sexual orientation. Discrimination related to caregiving responsibilities was reported by all gender identities. Regarding the negative impacts of workplace issues, many participants described modifying their appearance or behavior in response to gender biases. Gender also appeared to influence broader career challenges, as women and non-binary respondents reported experiencing almost all workplace issues at higher rates, particularly discrimination (35%) and mental health challenges (62%). Our goal is to raise awareness in the research community that discrimination in software development is multifaceted, and to encourage researchers to select and assess relevant facets beyond age and gender when designing software engineering studies.
TLSQKT: A Question-Aware Dual-Channel Transformer for Literacy Tracing from Learning Sequences
Venue: arXiv cs.CY 2025
Year: 2025

Knowledge tracing (KT) supports personalized learning by modeling how students' knowledge states evolve over time. However, most KT models emphasize mastery of discrete knowledge components, limiting their ability to characterize broader literacy development. We reframe the task as Literacy Tracing (LT), which models the growth of higher-order cognitive abilities and literacy from learners' interaction sequences, and we instantiate this paradigm with a Transformer-based model, TLSQKT (Transformer for Learning Sequences with Question-Aware Knowledge Tracing). TLSQKT employs a dual-channel design that jointly encodes student responses and item semantics, while question-aware interaction and self-attention capture long-range dependencies in learners' evolving states. Experiments on three real-world datasets - one public benchmark, one private knowledge-component dataset, and one private literacy dataset - show that TLSQKT consistently outperforms strong KT baselines on literacy-oriented metrics and reveals interpretable developmental trajectories of learners' literacy. Transfer experiments further indicate that knowledge-tracing signals can be leveraged for literacy tracing, offering a practical route when dedicated literacy labels are limited. These findings position literacy tracing as a scalable component of intelligent educational systems and lay the groundwork for literacy evaluation in future large-scale educational models.
A Scalable Global Optimization Algorithm For Constrained Clustering
Venue: arXiv cs.LG 2025
Year: 2025

Constrained clustering leverages limited domain knowledge to improve clustering performance and interpretability, but incorporating pairwise must-link and cannot-link constraints is an NP-hard challenge, making global optimization intractable. Existing mixed-integer optimization methods are confined to small-scale datasets, limiting their utility. We propose Sample-Driven Constrained Group-Based Branch-and-Bound (SDC-GBB), a decomposable branch-and-bound (BB) framework that collapses must-linked samples into centroid-based pseudo-samples and prunes cannot-link through geometric rules, while preserving convergence and guaranteeing global optimality. By integrating grouped-sample Lagrangian decomposition and geometric elimination rules for efficient lower and upper bounds, the algorithm attains highly scalable pairwise k-Means constrained clustering via parallelism. Experimental results show that our approach handles datasets with 200,000 samples with cannot-link constraints and 1,500,000 samples with must-link constraints, which is 200 - 1500 times larger than the current state-of-the-art under comparable constraint settings, while reaching an optimality gap of less than 3%. In providing deterministic global guarantees, our method also avoids the search failures that off-the-shelf heuristics often encounter on large datasets.
Open Multimodal Retrieval-Augmented Factual Image Generation
Venue: arXiv cs.CV 2025
Year: 2025

Large Multimodal Models (LMMs) have achieved remarkable progress in generating photorealistic and prompt-aligned images, but they often produce outputs that contradict verifiable knowledge, especially when prompts involve fine-grained attributes or time-sensitive events. Conventional retrieval-augmented approaches attempt to address this issue by introducing external information, yet they are fundamentally incapable of grounding generation in accurate and evolving knowledge due to their reliance on static sources and shallow evidence integration. To bridge this gap, we introduce ORIG, an agentic open multimodal retrieval-augmented framework for Factual Image Generation (FIG), a new task that requires both visual realism and factual grounding. ORIG iteratively retrieves and filters multimodal evidence from the web and incrementally integrates the refined knowledge into enriched prompts to guide generation. To support systematic evaluation, we build FIG-Eval, a benchmark spanning ten categories across perceptual, compositional, and temporal dimensions. Experiments demonstrate that ORIG substantially improves factual consistency and overall image quality over strong baselines, highlighting the potential of open multimodal retrieval for factual image generation.
A Framework for Quantifying How Pre-Training and Context Benefit In-Context Learning
Venue: arXiv cs.AI 2025
Year: 2025

Pre-trained large language models have demonstrated a strong ability to learn from context, known as in-context learning (ICL). Despite a surge of recent applications that leverage such capabilities, it is by no means clear, at least theoretically, how the ICL capabilities arise, and in particular, what is the precise role played by key factors such as pre-training procedure as well as context construction. In this work, we propose a new framework to analyze the ICL performance, for a class of realistic settings, which includes network architectures, data encoding, data generation, and prompt construction process. As a first step, we construct a simple example with a one-layer transformer, and show an interesting result, namely when the pre-train data distribution is different from the query task distribution, a properly constructed context can shift the output distribution towards the query task distribution, in a quantifiable manner, leading to accurate prediction on the query topic. We then extend the findings in the previous step to a more general case, and derive the precise relationship between ICL performance, context length and the KL divergence between pre-train and query task distribution. Finally, we provide experiments to validate our theoretical results.
Does In-IDE Calibration of Large Language Models work at Scale?
Venue: arXiv cs.SE 2025
Year: 2025

The introduction of large language models into integrated development environments (IDEs) is revolutionizing software engineering, yet it poses challenges to the usefulness and reliability of Artificial Intelligence-generated code. Post-hoc calibration of internal model confidences aims to align probabilities with an acceptability measure. Prior work suggests calibration can improve alignment, but at-scale evidence is limited. In this work, we investigate the feasibility of applying calibration of code models to an in-IDE context. We study two aspects of the problem: (1) the technical method for implementing confidence calibration and improving the reliability of code generation models, and (2) the human-centered design principles for effectively communicating reliability signal to developers. First, we develop a scalable and flexible calibration framework which can be used to obtain calibration weights for open-source models using any dataset, and evaluate whether calibrators improve the alignment between model confidence and developer acceptance behavior. Through a large-scale analysis of over 24 million real-world developer interactions across multiple programming languages, we find that a general, post-hoc calibration model based on Platt-scaling does not, on average, improve the reliability of model confidence signals. We also find that while dynamically personalizing calibration to individual users can be effective, its effectiveness is highly dependent on the volume of user interaction data. Second, we conduct a multi-phase design study with 3 expert designers and 153 professional developers, combining scenario-based design, semi-structured interviews, and survey validation, revealing a clear preference for presenting reliability signals via non-numerical, color-coded indicators within the in-editor code generation workflow.
Generating pivot Gray codes for spanning trees of complete graphs in constant amortized time
Venue: arXiv cs.DS 2025
Year: 2025

We present the first known pivot Gray code for spanning trees of complete graphs, listing all spanning trees such that consecutive trees differ by pivoting a single edge around a vertex. This pivot Gray code thus addresses an open problem posed by Knuth in The Art of Computer Programming, Volume 4 (Exercise 101, Section 7.2.1.6, [Knuth, 2011]), rated at a difficulty level of 46 out of 50, and imposes stricter conditions than existing revolving-door or edge-exchange Gray codes for spanning trees of complete graphs. Our recursive algorithm generates each spanning tree in constant amortized time using $O(n^2)$ space. In addition, we provide a novel proof of Cayley's formula, $n^{n-2}$, for the number of spanning trees in a complete graph, derived from our recursive approach. We extend the algorithm to generate edge-exchange Gray codes for general graphs with $n$ vertices, achieving $O(n^2)$ time per tree using $O(n^2)$ space. For specific graph classes, the algorithm can be optimized to generate edge-exchange Gray codes for spanning trees in constant amortized time per tree for complete bipartite graphs, $O(n)$-amortized time per tree for fan graphs, and $O(n)$-amortized time per tree for wheel graphs, all using $O(n^2)$ space.
Tools are under-documented: Simple Document Expansion Boosts Tool Retrieval
Venue: arXiv cs.IR 2025
Year: 2025

Large Language Models (LLMs) have recently demonstrated strong capabilities in tool use, yet progress in tool retrieval remains hindered by incomplete and heterogeneous tool documentation. To address this challenge, we introduce Tool-DE, a new benchmark and framework that systematically enriches tool documentation with structured fields to enable more effective tool retrieval, together with two dedicated models, Tool-Embed and Tool-Rank. We design a scalable document expansion pipeline that leverages both open- and closed-source LLMs to generate, validate, and refine enriched tool profiles at low cost, producing large-scale corpora with 50k instances for embedding-based retrievers and 200k for rerankers. On top of this data, we develop two models specifically tailored for tool retrieval: Tool-Embed, a dense retriever, and Tool-Rank, an LLM-based reranker. Extensive experiments on ToolRet and Tool-DE demonstrate that document expansion substantially improves retrieval performance, with Tool-Embed and Tool-Rank achieving new state-of-the-art results on both benchmarks. We further analyze the contribution of individual fields to retrieval effectiveness, as well as the broader impact of document expansion on both training and evaluation. Overall, our findings highlight both the promise and limitations of LLM-driven document expansion, positioning Tool-DE, along with the proposed Tool-Embed and Tool-Rank, as a foundation for future research in tool retrieval.
Look and Tell: A Dataset for Multimodal Grounding Across Egocentric and Exocentric Views
Venue: arXiv cs.CV 2025
Year: 2025

We introduce Look and Tell, a multimodal dataset for studying referential communication across egocentric and exocentric perspectives. Using Meta Project Aria smart glasses and stationary cameras, we recorded synchronized gaze, speech, and video as 25 participants instructed a partner to identify ingredients in a kitchen. Combined with 3D scene reconstructions, this setup provides a benchmark for evaluating how different spatial representations (2D vs. 3D; ego vs. exo) affect multimodal grounding. The dataset contains 3.67 hours of recordings, including 2,707 richly annotated referential expressions, and is designed to advance the development of embodied agents that can understand and engage in situated dialogue.
Uncertainty-Aware Autonomous Vehicles: Predicting the Road Ahead
Venue: arXiv cs.RO 2025
Year: 2025

Autonomous Vehicle (AV) perception systems have advanced rapidly in recent years, providing vehicles with the ability to accurately interpret their environment. Perception systems remain susceptible to errors caused by overly-confident predictions in the case of rare events or out-of-sample data. This study equips an autonomous vehicle with the ability to 'know when it is uncertain', using an uncertainty-aware image classifier as part of the AV software stack. Specifically, the study exploits the ability of Random-Set Neural Networks (RS-NNs) to explicitly quantify prediction uncertainty. Unlike traditional CNNs or Bayesian methods, RS-NNs predict belief functions over sets of classes, allowing the system to identify and signal uncertainty clearly in novel or ambiguous scenarios. The system is tested in a real-world autonomous racing vehicle software stack, with the RS-NN classifying the layout of the road ahead and providing the associated uncertainty of the prediction. Performance of the RS-NN under a range of road conditions is compared against traditional CNN and Bayesian neural networks, with the RS-NN achieving significantly higher accuracy and superior uncertainty calibration. This integration of RS-NNs into Robot Operating System (ROS)-based vehicle control pipeline demonstrates that predictive uncertainty can dynamically modulate vehicle speed, maintaining high-speed performance under confident predictions while proactively improving safety through speed reductions in uncertain scenarios. These results demonstrate the potential of uncertainty-aware neural networks - in particular RS-NNs - as a practical solution for safer and more robust autonomous driving.
S-Chain: Structured Visual Chain-of-Thought For Medicine
Venue: arXiv cs.LG 2025
Year: 2025

Faithful reasoning in medical vision-language models (VLMs) requires not only accurate predictions but also transparent alignment between textual rationales and visual evidence. While Chain-of-Thought (CoT) prompting has shown promise in medical visual question answering (VQA), no large-scale expert-level dataset has captured stepwise reasoning with precise visual grounding. We introduce S-Chain, the first large-scale dataset of 12,000 expert-annotated medical images with bounding boxes and structured visual CoT (SV-CoT), explicitly linking visual regions to reasoning steps. The dataset further supports 16 languages, totaling over 700k VQA pairs for broad multilingual applicability. Using S-Chain, we benchmark state-of-the-art medical VLMs (ExGra-Med, LLaVA-Med) and general-purpose VLMs (Qwen2.5-VL, InternVL2.5), showing that SV-CoT supervision significantly improves interpretability, grounding fidelity, and robustness. Beyond benchmarking, we study its synergy with retrieval-augmented generation, revealing how domain knowledge and visual grounding interact during autoregressive reasoning. Finally, we propose a new mechanism that strengthens the alignment between visual evidence and reasoning, improving both reliability and efficiency. S-Chain establishes a new benchmark for grounded medical reasoning and paves the way toward more trustworthy and explainable medical VLMs.